CN203275956U - Motion control system of thread guide of full-automatic computerized flat knitting machine - Google Patents
Motion control system of thread guide of full-automatic computerized flat knitting machine Download PDFInfo
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- CN203275956U CN203275956U CN 201320291360 CN201320291360U CN203275956U CN 203275956 U CN203275956 U CN 203275956U CN 201320291360 CN201320291360 CN 201320291360 CN 201320291360 U CN201320291360 U CN 201320291360U CN 203275956 U CN203275956 U CN 203275956U
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- yarn guide
- thread guide
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Abstract
The utility model discloses a motion control system of a thread guide of a full-automatic computerized flat knitting machine, and the system comprises a host computer module, a man-machine interaction module, a control module, a power module, and a servo motor. The host computer module transmits a position to the control module, and the position is a place where the thread guide is about to arrive. The control module calculates a change value of the position of the thread guide and a variation of a corresponding coded signal, and outputs a PWM signal. The power module converts the PWM signal into a UVW three signal and controls the servo motor to rotate. The servo motor drives a mechanical transmission device to enable the thread guide to rotate. Meanwhile, a motor encoder continuously feeds back the coded signal to the control module. When the change value of the received coded signal reaches a preset value, the thread guide reaches the position where the thread guide is about to reach, and the control module stops transmitting the PWM signal. Meanwhile, the servo motor is locked and the thread guide stops to move. The control system is advantageous by real-time control of the movement of the thread guide and rapid response to the movement of the thread guide.
Description
Technical field
The utility model relates to the Full-automatic computerized flat technical field, relates in particular to a kind of yarn guide kinetic control system of Full-automatic computerized flat.
Background technology
Traditional yarn guide kinetic control system is coordinated by yarn mouth electromagnet and head completes realization, yarn guide is arranged on yarn mouth guide rail, yarn mouth electromagnet is arranged on head, open yarn mouth electromagnet during to the yarn guide position when head motion, thereby drive the yarn guide motion, when yarn guide arrives the precalculated position, only need closed yarn mouth electromagnet, just can make yarn guide stay this position.Therefore the motion of serious dependence head and the folding of yarn mouth electromagnet are parked in the yarn guide position of this yarn guide kinetic control system.
When head away from yarn guide the time, just can not change the position of yarn guide, must to wait until the position that could change yarn guide when head moves to the yarn guide stand again, and the good speed control of neither one again when yarn guide is parked, cause yarn guide by motion a period of time that still can inertia after parking, thereby depart from preposition.In addition, the performance of yarn mouth electromagnet itself neither be very stable, often can damage or by maloperation, cause the position of yarn guide to park inaccurate.
The utility model content
The utility model provides a kind of precision high for above-mentioned the deficiencies in the prior art, can control in real time yarn guide and move yarn guide kinetic control system with the Full-automatic computerized flat of parking.
The technical solution of the utility model is achieved in that
A kind of yarn guide kinetic control system of Full-automatic computerized flat, this system comprises:
Upper computer module, the execution result that is used for generating the control command of servomotor and receives control command;
Human-computer interaction module is used for manually inputting the operational factor of servomotor and the running status of checking servomotor;
Control module, be used for to receive the control command of upper computer module output, coded signal that servomotor feeds back and the servomotor operational factor of human-computer interaction module output, generation outputs to the pwm signal of power model, send execution result after the upper computer module command process to upper computer module, send the running status of servomotor to human-computer interaction module;
Power model is used for receiving the pwm signal that control module produces, and conversion produces the UVW three-phase signal to servomotor;
Servomotor receives and the Execution driven order, drives the yarn guide motion by mechanical driving device, and sends coded signal by scrambler.
As preferably, described mechanical driving device comprises driving wheel, engaged wheel, is connected by synchrome conveying belt between engaged wheel and driving wheel, and driving wheel is connected with the output shaft of servomotor, and yarn guide is tied up on synchrome conveying belt.Adopt said structure, can respond fast the control command of yarn guide motion.
As preferably, described control module comprises DSP, FPGA, EEPROM and amplifying circuit; DSP is the center that data are processed, and is used for realization and the Control on Communication of upper computer module, the coded signal that the reception servomotor sends, the input data that produce pwm signal, reception human-computer interaction module and save data, monitoring voltage feedback signal; FPGA is used for auxiliary DSP and carries out the I/O ports-Extending; EEPROM is used for the storage data; Amplifying circuit, the voltage and the voltage that amplifies that feed back for the amplifying power module are input to DSP.
As preferably, described power model comprises a plurality of separate IPM modules, voltage detecting circuit, rectification circuit, Switching Power Supply translation circuit; Rectification circuit becomes direct current with civil power or three-phase electricity rectifying conversion; Servomotor of the corresponding control of each IPM module, they are according to the pwm signal of control module input, and the direct current that rectification is obtained converts the UVW three-phase signal that is fit to servomotor work to; Voltage detecting circuit, the voltage for checking civil power or three-phase electricity, UVW three-phase signal in time provides and reports to the police and protect; The Switching Power Supply translation circuit produces the DC voltage that is fit to power model and control module operation.
As preferably, described mechanical driving device comprises driving wheel, engaged wheel, is connected by synchrome conveying belt between engaged wheel and driving wheel, and driving wheel is connected with the output shaft of servomotor, and yarn guide is tied up on synchrome conveying belt.
Adopted the principle of the present utility model of technique scheme and the advantage that has to be:
The position movement of yarn guide of the present utility model is completed by the rotation of servomotor, the rotating speed of servomotor determines the moving speed of yarn guide, servomotor turn to the moving speed that determines yarn guide, the accurate control of yarn guide position is to complete by the encoder feedback of servomotor; The rotating speed of servomotor and the output pwm signal control that turns to by control module.
In addition, can move stably in order to make yarn guide, also can be optimized its operational process; Specifically comprise boost phase, the travelling speed of yarn guide from slow to fast; High speed stage, the speed of yarn guide keep stablize constant; In the decelerating phase, the reduction progressively of the travelling speed of yarn guide is until stop.
Traditional yarn guide motion control is to complete by the motion cooperation of yarn mouth electromagnet and head.Due to the defective of the performance of yarn mouth electromagnet itself and the deficiency of this control method itself, can often cause the yarn guide position to be parked inaccurate, perhaps just there is no the shift thread guides position at all.And the yarn guide kinetic control system and the method that propose shown in the utility model except can solving above shortcoming, also have advantages of the movement of real-time control yarn guide and respond fast yarn guide and move.
Description of drawings
Fig. 1 is the structured flowchart of the utility model yarn guide kinetic control system;
Fig. 2 is the work schematic diagram of the utility model control module and power model;
Fig. 3 is the structural representation of mechanical driving device;
Fig. 4 is the graph of a relation between the frequency of servomotor coded signal variable quantity and control module output pwm signal.
Embodiment
Embodiment of the present utility model is as follows:
Embodiment: a kind of yarn guide kinetic control system of Full-automatic computerized flat, as shown in Figure 1 and Figure 2,
Comprise:
Upper computer module is communicated by letter with control module by the RS485 agreement, produces the control command of servomotor and sends to control module, returning results after the reception command execution from control module.The control command here mainly comprises distance and the direction that yarn guide will move; Returning results here refers to distance and the traffic direction that has moved when front yarn guider.
Human-computer interaction module comprises button, charactron, and the parameter of servomotor operation is set by button, uses charactron to show the running status of servomotor.
Control module, be used for: the control command that receives upper computer module output, the operational factor of the servomotor of the coded signal that the reception servomotor feeds back and human-computer interaction module output, preserve the position data of processing procedure middle yarn guider, preserve the changing value of the coded signal of encoder for servo motor feedback, these data all will be saved in EEPROM; Generation outputs to the pwm signal of power model; Send yarn guide postrun position by RS485 to upper computer module; Send the running status of motor to human-computer interaction module by the I/O mouth; By the detection to the power model feedback voltage signal, carry out circuit protection and abnormal alarm.
Described power model comprises 8 separate IPM modules, voltage detecting circuit, rectification circuit, Switching Power Supply translation circuit; Rectification circuit becomes direct current with civil power or three-phase electricity rectifying conversion; Servomotor of the corresponding control of each IPM module, they are according to the pwm signal of control module input, and the direct current that rectification is obtained converts the UVW three-phase signal that is fit to servomotor work to; Voltage detecting circuit is used for the voltage of inspection civil power or three-phase electricity, UVW three-phase signal, and the voltage signal that detects is passed to control module, in time provides and reports to the police and protect; The Switching Power Supply translation circuit produces the DC voltage that is fit to power model and control module operation.
Servomotor receives and the Execution driven order, drives the motion of yarn guide by mechanical driving device.As shown in Figure 3, described mechanical driving device comprises driving wheel 1, engaged wheel 2, is connected by synchrome conveying belt 3 between engaged wheel 2 and driving wheel 1, and driving wheel 1 is connected with the output shaft of servomotor 4, and yarn guide 5 is tied up on synchrome conveying belt 3.
The below is the process that the yarn guide kinetic control system is controlled the yarn guide motion, describes in detail in conjunction with Fig. 1,2,3:
One, by human-computer interaction module, the running state parameter of servomotor is set, and it is saved in control module, by the operational factor of setting, the encoded radio variable quantity that can calculate motor encoder in control module is 1 o'clock, and the distance of corresponding yarn guide motion is d.
Two, upper computer module sends to control module the distance L that yarn guide will move by RS485 communication protocol;
Three, after described control module received the data that upper computer module transmits, the distance L that at first will move yarn guide converted the variable quantity code of encoder for servo motor coded signal, code=L/d to.Then control module according to the variable quantity of encoder encodes signal value, is controlled output pwm signal.
Four, power model generates the UVW three-phase signal according to the pwm signal conversion of control module output, and then the UVW three-phase signal is controlled servomotor and made its rotation.
Five, servomotor rotates the rotation that drives the driving wheel that is fixed thereon.The motion of driving wheel further drives again the motion of engaged wheel and synchrome conveying belt.Finally, the motion of travelling belt makes binding yarn guide motion thereon.Simultaneously, when servomotor began to rotate, encoder for servo motor constantly feedback encoding signal arrived control module.When the coded signal changing value that receives when control module reaches setting value, when namely equaling code, control module just stops sending pwm signal, namely the frequency of pwm signal is 0 at this moment, yarn guide has namely arrived the position that it will arrive, control module also just stops sending pwm signal, locks servomotor this moment and stops the yarn guide motion.
Wherein, in the process of yarn guide move distance L, yarn guide is wanted first accelerated motion one segment distance, this acceleration distance is set by human-computer interaction module, and then uniform motion one segment distance, at the uniform velocity distance is by the human-computer interaction module setting for this, and last retarded motion one segment distance arrives preposition, equally, this deceleration distance is also set by human-computer interaction module.Like this, yarn guide is moved more stably.
The process of controlling the yarn guide motion according to above-mentioned yarn guide kinetic control system illustrate in conjunction with Fig. 2, Fig. 3 and Fig. 4 the example that a yarn guide moves.
The straight-bar machines of existing one 52 inches has 260 pins on needle-bar, the needle gage of every pin is 5 millimeters.The coded signal variable quantity of 1 millimeter scrambler of the every motion of yarn guide is 50, and the yarn guide move distance that each variable quantity of scrambler is corresponding is d=1/50 millimeter=0.02 millimeter.
If yarn guide is from initial the 0th pin, move to the 20th pin, variable quantity code=L/d=20 * the 5/0.02=5000 of encoder encodes signal when at first calculating yarn guide and moving 20 pin, set by human-computer interaction module: the distance of yarn guide accelerated motion is 4 pins, the distance of uniform motion is 12 pins, and the distance of retarded motion is 4 pins.
When control module rigidly connects when receiving orders, the also motion of yarn guide this moment, the variable quantity of the coded signal of scrambler is 0, so the frequency f of the pwm signal of control module output is 0; When the variable quantity of the coded signal of scrambler began to increase, the frequency f of the pwm signal of control module output also began to increase, and corresponding yarn guide begins accelerated motion, until yarn guide has moved 4 pins.At this moment, corresponding encoder encodes change amount signal is code1=4 * 5/0.02=1000.After this, the frequency f of the pwm signal of control module output begins to remain unchanged, and the motion that also remains a constant speed of corresponding yarn guide is until yarn guide reruns after 12 pins.At this moment, corresponding encoder encodes change amount signal is code2=(4+12) * 5/0.02=4000, and the frequency f of the pwm signal of control module output begins to reduce, and corresponding yarn guide carries out retarded motion, 4 pins until yarn guide has reruned arrive preposition.Simultaneously, the variable quantity of the coded signal of scrambler has also arrived the variable quantity code=L/d=(4+12+4) of default encoder encodes signal * 5/0.02=5000; At this moment, reached setting value, the frequency f of the pwm signal of control module output is 0, and servomotor is locked, the yarn guide stop motion.
Claims (4)
1. the yarn guide kinetic control system of a Full-automatic computerized flat is characterized in that this system comprises:
Upper computer module, the execution result that is used for generating the control command of servomotor and receives control command;
Human-computer interaction module is used for manually inputting the control parameter of servomotor and the running status of checking servomotor;
Control module, be used for to receive the control command of upper computer module output, coded signal that servomotor feeds back and the servomotor of human-computer interaction module output and control parameter, generation outputs to the pwm signal of power model, send execution result after the upper computer module command process to upper computer module, send the running status of servomotor to human-computer interaction module;
Power model is used for receiving the pwm signal that control module produces, and conversion produces the UVW three-phase signal to servomotor;
Servomotor receives and the Execution driven order, drives the yarn guide motion by mechanical driving device, and sends coded signal by scrambler.
2. the yarn guide kinetic control system of a kind of Full-automatic computerized flat according to claim 1, it is characterized in that: described mechanical driving device comprises driving wheel, engaged wheel, be connected by synchrome conveying belt between engaged wheel and driving wheel, driving wheel is connected with the output shaft of servomotor, and yarn guide is tied up on synchrome conveying belt.
3. the yarn guide kinetic control system of a kind of Full-automatic computerized flat according to claim 1, it is characterized in that: described control module comprises DSP, FPGA, EEPROM and amplifying circuit; DSP is the center that data are processed, and is used for realization and the Control on Communication of upper computer module, the coded signal that the reception servomotor sends, the input data that produce pwm signal, reception human-computer interaction module and save data, monitoring voltage feedback signal; FPGA is used for auxiliary DSP and carries out the I/O ports-Extending; EEPROM is used for the storage data; Amplifying circuit, the voltage and the voltage that amplifies that feed back for the amplifying power module are input to DSP.
4. the yarn guide kinetic control system of a kind of Full-automatic computerized flat according to claim 1, it is characterized in that: described power model comprises a plurality of separate IPM modules, voltage detecting circuit, rectification circuit, Switching Power Supply translation circuit; Rectification circuit becomes direct current with civil power or three-phase electricity rectifying conversion; Servomotor of the corresponding control of each IPM module, they are according to the pwm signal of control module input, and the direct current that rectification is obtained converts the UVW three-phase signal that is fit to servomotor work to; Voltage detecting circuit, the voltage for checking civil power or three-phase electricity, UVW three-phase signal in time provides and reports to the police and protect; The Switching Power Supply translation circuit produces the DC voltage that is fit to power model and control module operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320291360 CN203275956U (en) | 2013-05-23 | 2013-05-23 | Motion control system of thread guide of full-automatic computerized flat knitting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320291360 CN203275956U (en) | 2013-05-23 | 2013-05-23 | Motion control system of thread guide of full-automatic computerized flat knitting machine |
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| CN203275956U true CN203275956U (en) | 2013-11-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320291360 Withdrawn - After Issue CN203275956U (en) | 2013-05-23 | 2013-05-23 | Motion control system of thread guide of full-automatic computerized flat knitting machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268126A (en) * | 2013-05-23 | 2013-08-28 | 杭州鼎炬科技有限公司 | System and method for controlling motion of yarn guide of full-automatic computerized flat knitting machine |
-
2013
- 2013-05-23 CN CN 201320291360 patent/CN203275956U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103268126A (en) * | 2013-05-23 | 2013-08-28 | 杭州鼎炬科技有限公司 | System and method for controlling motion of yarn guide of full-automatic computerized flat knitting machine |
| CN103268126B (en) * | 2013-05-23 | 2016-09-07 | 浙江鼎炬电子科技股份有限公司 | The yarn guide kinetic control system of a kind of Full-automatic computerized flat and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: ZHEJIANG DINGJU ELECTRONIC TECHNOLOGY CO., LTD. Free format text: FORMER NAME: HANGZHOU DESIGN TECHNOLOGY CO.,LTD. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: 310052, 1 floor, No. 6, Middle Road, Binjiang District Park, Hangzhou, Zhejiang, 3 Patentee after: Zhejiang Dingju Electronic Technology Co., Ltd. Address before: 310052, 1 floor, No. 6, Middle Road, Binjiang District Park, Hangzhou, Zhejiang, 3 Patentee before: Hangzhou Design Technology Co.,Ltd. |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20131106 Effective date of abandoning: 20160907 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |